S912XHZ512F1VAG Datasheet, PDF (467/978 Pages) Freescale Semiconductor, Inc – Covers MC9S12XHZ384, MC9S12XHZ256

Chapter 12 Stepper Stall Detector (SSDV1) Block Description
Table 12-5. Switch Condition States (RTZE = 1 or 0)
ITG
STEP
POL
S1
S2
S3
S4
S5
S6
S7
S8
0
xx
x
Open
Open
Open
Open
Open
Open
Open
Open
1
00
0
Open
Open
Open
Open
Close
Open
Open
Close
1
00
1
Open
Open
Open
Open
Open
Close
Close
Open
1
01
0
Open
Close
Close
Open
Open
Open
Open
Open
1
01
1
Close
Open
Open
Close
Open
Open
Open
Open
1
10
0
Open
Open
Open
Open
Open
Close
Close
Open
1
10
1
Open
Open
Open
Open
Close
Open
Open
Close
1
11
0
Close
Open
Open
Close
Open
Open
Open
Open
1
11
1
Open
Close
Close
Open
Open
Open
Open
Open
Table 12-6. Full Step States
STEP Pole Angle
COSINE
Coil Current
SINE
Coil Current
Coil Node to
Integrator input
(Close Switch)
Coil Node to
Reference input
(Close Switch)
DCOIL = 0 DCOIL = 1 DCOIL = 0 DCOIL = 1
ITG = 1
POL = 0
ITG = 1
POL = 1
ITG = 1
POL = 0
ITG = 1
POL = 1
0 East 0°
0
+ I max
0
0
SINxM (S8) SINxP (S6) SINxP (S5) SINxM (S7)
1 North 90°
0
0
0
+ I max COSxP (S2) COSxM (S4) COSxM (S3) COSxP (S1)
2 West 180°
0
– I max
0
0
SINxP (S6) SINxM (S8) SINxM (S7) SINxP (S5)
3 South 270°
0
0
0
– I max COSxM (S4) COSxP (S2) COSxP (S1) COSxM (S3)
12.3.2.2 Modulus Down Counter Control Register (MDCCTL)
Module Base + 0x0001
R
W
Reset
7
MCZIE
0
6
5
4
3
2
1
0
0
MODMC
RDMCL
PRE
MCEN
FLMC
0
0
0
0
0
0
= Unimplemented or Reserved
Figure 12-3. Modulus Down Counter Control Register (MDCCTL)
Read: anytime
Write: anytime.
0
AOVIE
0
MC9S12XHZ512 Data Sheet, Rev. 1.06
Freescale Semiconductor
467